Lauching ROS nodes

Hello everybody.
I have been studying PX4 for a while and I am moving the effort now to companion computers that will talk to PIXHAWK running PX4.

All the tutorial on-line about ROS (MAVROS) brings examples of setups where, basically, we connect a terminal to a companion computer to launch the ROS nodes.
My question is:
After the development phase, is there any way of launching the required ROS nodes running on a companion computer (Raspberry PI, NVDIA) automatically, without the need of doing this from a terminal?

I am thinking in advance for a project, where, I imagine that, everytime before the flight, it will be necessary to connect a terminal on the companion computer to launch the nodes, which would be a little anoying for the client.